Blender Python Custom Outliner tableview
The data shown in the outliner is filtered within blender's C code, the python code used to display it is rather minimal - view it here. Altering the display of the outliner will need to be implemented with C not python. code is here if you want to look.

The data you want displayed is available in the properties sidebar on the right of the 3dView (press N to show/hide it)



You can write an addon to show a customised version of this data, a sample to get you started --

bl_info = {
    'name': 'sample info display',
    'author': 'Shane',
    'version': (1, 0),
    "blender": (2, 6, 9),
    'location': 'View3D &gt; Properties panel &gt; Sample Info',
    'description': 'A simple panel for the 3D view properties panel to show stuff',
    "wiki_url": ""\
        "",
    "tracker_url": ""\
        "",
    'category': 'Properties'}

"""
This script simply places some properties into the 3D view Properies panel.
"""

import bpy

class SamplePanel(bpy.types.Panel):
    bl_space_type = "VIEW_3D"
    bl_region_type = "UI"
    bl_label = "Sample data"

    def draw(self, context):
        layout = self.layout
        obj = context.object

        row = layout.row()
        row.column().prop(obj, "location")
        row = layout.row()
        if obj.rotation_mode == 'QUATERNION':
            row.column().prop(obj, "rotation_quaternion", text="Rotation")
        elif obj.rotation_mode == 'AXIS_ANGLE':
            row.column().prop(obj, "rotation_axis_angle", text="Rotation")
        else:
            row.column().prop(obj, "rotation_euler", text="Rotation")

def register():
    bpy.utils.register_class(SamplePanel)

def unregister():
    bpy.utils.unregister_class(SamplePanel)

if __name__ == "__main__":
    register()